MPCC 5 Band D (宝岛 Takarajima)

MPCC 5 Band D (宝岛 Takarajima)

ORCA - Nonlinear MPCC "How it works"

published:18 Nov 2016

ORCA - Nonlinear MPCC "How it works"

ORCA - Nonlinear MPCC "How it works"

published:18 Nov 2016

views:2737

This video shows the newly implemented Nonlinear MPC for autonomous racing of miniature RC car developed by Florin Leutwiler during his Semester Project. The video first explains how the experimental Autonomous RC Racing set-up at the Automatic Control Laboratory at ETH Zürich works. And second, the nonlinear optimization problem which is solved in receding horizon is described. Afterwards the controller is shown in action first without and then with obstacles on the track
The nonlinear MPC problem is solved with FORCES Pro NLP developed by embotech. And the controller is mostly based on the paper \"Optimization-Based Autonomous Racing of 1:43 Scale RC Cars\" by A. Liniger, A. Domahidi and M. Morari, where instead of a nonlinear optimization problem the problem is first approximated as a quadratic program. The paper can be found at:
http://onlinelibrary.wiley.com/doi/10.1002/oca.2123/full
or
http://control.ee.ethz.ch/index.cgi?page=publications&action=details&id=4623
The setup is part of the ORCA - Optimal RC Autonomous Racing project at the Automatic Control Laboratory (IfA) at ETH.
http://www.control.ee.ethz.ch
http://www.control.ee.ethz.ch/~racing
https://www.embotech.com/...

ORCA - Nonlinear MPCC "How it works"

published:18 Nov 2016

views:2737

This video shows the newly implemented Nonlinear MPC for autonomous racing of miniature RC car developed by Florin Leutwiler during his Semester Project. The video first explains how the experimental Autonomous RC Racing set-up at the Automatic Control Laboratory at ETH Zürich works. And second, the nonlinear optimization problem which is solved in receding horizon is described. Afterwards the controller is shown in action first without and then with obstacles on the track
The nonlinear MPC problem is solved with FORCES Pro NLP developed by embotech. And the controller is mostly based on the paper \"Optimization-Based Autonomous Racing of 1:43 Scale RC Cars\" by A. Liniger, A. Domahidi and M. Morari, where instead of a nonlinear optimization problem the problem is first approximated as a quadratic program. The paper can be found at:
http://onlinelibrary.wiley.com/doi/10.1002/oca.2123/full
or
http://control.ee.ethz.ch/index.cgi?page=publications&action=details&id=4623
The setup is part of the ORCA - Optimal RC Autonomous Racing project at the Automatic Control Laboratory (IfA) at ETH.
http://www.control.ee.ethz.ch
http://www.control.ee.ethz.ch/~racing
https://www.embotech.com/...

This video shows the newly implemented Nonlinear MPC for autonomous racing of miniature RC car developed by Florin Leutwiler during his Semester Project. The video first explains how the experimental Autonomous RC Racing set-up at the Automatic Control Laboratory at ETH Zürich works. And second, the